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sensors: move voting into sensors module

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- voting is now at a central place instead of duplicated within the
  estimators
  -> this also means that estimators that did not do voting so far,
     now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
  sensors
- allows sensors_combined to be 3 times smaller
  - reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
  the voted result
- this also adds voting to baro
This commit is contained in:
Beat Küng
2016-06-25 12:28:02 +02:00
committed by Lorenz Meier
parent c50d267bfb
commit d846ad5dac
23 changed files with 560 additions and 632 deletions
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src/examples/px4_simple_app/px4_simple_app.c
+1 -1
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@@ -102,7 +102,7 @@ int px4_simple_app_main(int argc, char *argv[])
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
float sensor_accel[3];
float accel_dt = raw.accelerometer_integral_dt[0] / 1.e6f;
float accel_dt = raw.accelerometer_integral_dt / 1.e6f;
sensor_accel[0] = raw.accelerometer_integral_m_s[0] / accel_dt;
sensor_accel[1] = raw.accelerometer_integral_m_s[1] / accel_dt;
sensor_accel[2] = raw.accelerometer_integral_m_s[2] / accel_dt;